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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
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<div class="title">nc::rotations::Quaternion Class Reference</div>  </div>
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<p>Holds a unit quaternion.  
 <a href="classnc_1_1rotations_1_1_quaternion.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_quaternion_8hpp_source.html">Quaternion.hpp</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a3b6901fb3a079eb9249bd1bf3098c36c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a> ()=default</td></tr>
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<tr class="memitem:a13ac87f70271d1771301011887d9d51a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a13ac87f70271d1771301011887d9d51a">angularVelocity</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat2, double inTime) const</td></tr>
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<tr class="memitem:ade406544e8360506bb77102d17b14e61"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ade406544e8360506bb77102d17b14e61">conjugate</a> () const noexcept</td></tr>
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<tr class="memitem:a5a661b367dff916e8bdb5e28ac608ecd"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a> () const noexcept</td></tr>
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<tr class="memitem:a9b0634474b2ff27f9443ba256ea00ab1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a9b0634474b2ff27f9443ba256ea00ab1">inverse</a> () const noexcept</td></tr>
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<tr class="memitem:acb62c703a1f96333bf76ad0735cb8b97"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a> () const noexcept</td></tr>
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<tr class="memitem:aa2eee61d3a428a558f28d1bb6cc6a048"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a> () const noexcept</td></tr>
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<tr class="memitem:adcf57fd29d62e19f5c764750262ff7c3"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#adcf57fd29d62e19f5c764750262ff7c3">operator!=</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) const noexcept</td></tr>
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<tr class="memitem:a10fd2d44927d59f19e37c45586072d14"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a10fd2d44927d59f19e37c45586072d14">operator*</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;inVec) const</td></tr>
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<tr class="memitem:a97a81255a6bb91049b1ad7e7b83e2f7f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a97a81255a6bb91049b1ad7e7b83e2f7f">operator*</a> (const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;inVec3) const</td></tr>
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<tr class="memitem:aaaa8a1bd7130e7ce6a819284584a84c5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#aaaa8a1bd7130e7ce6a819284584a84c5">operator*=</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) noexcept</td></tr>
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<tr class="memitem:a60f1f33144c887cde1338fd80183638f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a60f1f33144c887cde1338fd80183638f">operator-=</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) noexcept</td></tr>
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<tr class="memitem:ab054e067fc333a48582e291f95120866"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ab054e067fc333a48582e291f95120866">operator/</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) const noexcept</td></tr>
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<tr class="memitem:a859df40774ccff755560604b930c934d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a859df40774ccff755560604b930c934d">operator/=</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) noexcept</td></tr>
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<tr class="memitem:a82f40acb2292256faffab2b88aa38208"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a82f40acb2292256faffab2b88aa38208">operator==</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) const noexcept</td></tr>
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<tr class="memitem:a601b444c8c8f820700844d7ab5f743ba"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">pitch</a> () const noexcept</td></tr>
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<tr class="memitem:a815d72f9b492ff821077d5d4652b7985"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a815d72f9b492ff821077d5d4652b7985">print</a> () const</td></tr>
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<tr class="memitem:a26f2a9303f0521ee36d92467ab45e3ab"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">roll</a> () const noexcept</td></tr>
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<tr class="memitem:a2e19c4d0b48d7f73e0aa273d85435370"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a2e19c4d0b48d7f73e0aa273d85435370">rotate</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;inVector) const</td></tr>
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<tr class="memitem:a382d4e4c045bce131c5cce634ed077c7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a382d4e4c045bce131c5cce634ed077c7">rotate</a> (const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;inVec3) const</td></tr>
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<tr class="memitem:a075b6f1befef247f5d638c91e1a451fd"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a> () const noexcept</td></tr>
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<tr class="memitem:a687155cd6469c095941b94a738119da9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a687155cd6469c095941b94a738119da9">slerp</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat2, double inPercent) const</td></tr>
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<tr class="memitem:a0ddeeba7435df3364f262215f24c93c1"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a0ddeeba7435df3364f262215f24c93c1">str</a> () const</td></tr>
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<tr class="memitem:aaa79cb63eab5e2bee5101de41d9074f8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#aaa79cb63eab5e2bee5101de41d9074f8">toDCM</a> () const</td></tr>
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<tr class="memitem:a4a11c1c0daf982f9367e4541e5735e71"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a4a11c1c0daf982f9367e4541e5735e71">toNdArray</a> () const</td></tr>
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<tr class="memitem:a5b5cef534a39badf5d3079ee642e675c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">yaw</a> () const noexcept</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a7cbe975bfed4cd7e5b4606047a9ee7f9"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a7cbe975bfed4cd7e5b4606047a9ee7f9">angularVelocity</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat1, const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat2, double inTime)</td></tr>
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<tr class="memitem:ae093d333b66b63eeef5704be4a374af2"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ae093d333b66b63eeef5704be4a374af2">identity</a> () noexcept</td></tr>
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<tr class="memitem:a314478702a3da52f2be3f422057d8732"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a314478702a3da52f2be3f422057d8732">nlerp</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat1, const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat2, double inPercent)</td></tr>
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<tr class="memitem:a7a39f199e4d1ad773b93c69e66ae0415"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a7a39f199e4d1ad773b93c69e66ae0415">slerp</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat1, const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat2, double inPercent)</td></tr>
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<tr class="memitem:a30fe8031959271e5b0134a0c562713b4"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a30fe8031959271e5b0134a0c562713b4">xRotation</a> (double inAngle) noexcept</td></tr>
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<tr class="memitem:ab77da90ef63465f79bd79348330ca9a4"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ab77da90ef63465f79bd79348330ca9a4">yRotation</a> (double inAngle) noexcept</td></tr>
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<tr class="memitem:aaf688fafc4714f1da399e265c8e49a8d"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#aaf688fafc4714f1da399e265c8e49a8d">zRotation</a> (double inAngle) noexcept</td></tr>
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Friends</h2></td></tr>
<tr class="memitem:a6d11f3a719f010cdd220642d2bb586e6"><td class="memItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a6d11f3a719f010cdd220642d2bb586e6">operator&lt;&lt;</a> (std::ostream &amp;inOStream, const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Holds a unit quaternion. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a3b6901fb3a079eb9249bd1bf3098c36c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3b6901fb3a079eb9249bd1bf3098c36c">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[1/6]</span></h2>

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<p>Default Constructor </p>

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<a id="a8c498c295071b8b787902044bf87d34d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8c498c295071b8b787902044bf87d34d">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[2/6]</span></h2>

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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>roll</em>, </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>pitch</em>, </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>yaw</em>&#160;</td>
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<p>Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">roll</td><td>euler roll angle in radians </td></tr>
    <tr><td class="paramname">pitch</td><td>euler pitch angle in radians </td></tr>
    <tr><td class="paramname">yaw</td><td>euler yaw angle in radians </td></tr>
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<a id="a3ba2fb2c68554ec78a0957dc1fd7752d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3ba2fb2c68554ec78a0957dc1fd7752d">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[3/6]</span></h2>

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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inI</em>, </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inJ</em>, </td>
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          <td class="paramtype">double&#160;</td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inS</em>&#160;</td>
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<p>Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inI</td><td></td></tr>
    <tr><td class="paramname">inJ</td><td></td></tr>
    <tr><td class="paramname">inK</td><td></td></tr>
    <tr><td class="paramname">inS</td><td></td></tr>
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<a id="addcc7fb7b4acd4201e7f5b90ef207f4d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#addcc7fb7b4acd4201e7f5b90ef207f4d">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[4/6]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
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<p>Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inArray</td><td>if size = 3 the roll, pitch, yaw euler angles if size = 4 the i, j, k, s components if shape = [3, 3] then direction cosine matrix </td></tr>
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<a id="abbacae2cb36d4f7e93e1cf130f8ca6b4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abbacae2cb36d4f7e93e1cf130f8ca6b4">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[5/6]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;&#160;</td>
          <td class="paramname"><em>inAxis</em>, </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inAngle</em>&#160;</td>
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<p>Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAxis</td><td>Euler axis </td></tr>
    <tr><td class="paramname">inAngle</td><td>Euler angle in radians </td></tr>
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<a id="a81b7db9d5e593a61272e09ce7dcc1325"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a81b7db9d5e593a61272e09ce7dcc1325">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[6/6]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
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          <td class="paramtype">double&#160;</td>
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<p>Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAxis</td><td>Euler axis x,y,z vector components </td></tr>
    <tr><td class="paramname">inAngle</td><td>Euler angle in radians </td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
<a id="a7cbe975bfed4cd7e5b4606047a9ee7f9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7cbe975bfed4cd7e5b4606047a9ee7f9">&#9670;&nbsp;</a></span>angularVelocity() <span class="overload">[1/2]</span></h2>

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          <td class="memname">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt;double&gt; nc::rotations::Quaternion::angularVelocity </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat1</em>, </td>
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          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inTime</em>&#160;</td>
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<p>angular velocity vector between the two quaternions. The norm of the array is the magnitude</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat1</td><td></td></tr>
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inTime</td><td>(seperation time) </td></tr>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a13ac87f70271d1771301011887d9d51a">&#9670;&nbsp;</a></span>angularVelocity() <span class="overload">[2/2]</span></h2>

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          <td class="memname"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt;double&gt; nc::rotations::Quaternion::angularVelocity </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
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          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inTime</em>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<p>angular velocity vector between the two quaternions. The norm of the array is the magnitude</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inTime</td><td>(seperation time) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ade406544e8360506bb77102d17b14e61">&#9670;&nbsp;</a></span>conjugate()</h2>

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          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::conjugate </td>
          <td>(</td>
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          <td> const</td>
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<p>quaternion conjugate</p>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a5a661b367dff916e8bdb5e28ac608ecd">&#9670;&nbsp;</a></span>i()</h2>

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          <td class="memname">double nc::rotations::Quaternion::i </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>returns the i component</p>
<dl class="section return"><dt>Returns</dt><dd>double </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ae093d333b66b63eeef5704be4a374af2">&#9670;&nbsp;</a></span>identity()</h2>

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          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::identity </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>quaternion identity (0,0,0,1)</p>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a9b0634474b2ff27f9443ba256ea00ab1">&#9670;&nbsp;</a></span>inverse()</h2>

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          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::inverse </td>
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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>quaternion inverse</p>
<dl class="section return"><dt>Returns</dt><dd>Quaterion </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#acb62c703a1f96333bf76ad0735cb8b97">&#9670;&nbsp;</a></span>j()</h2>

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          <td class="memname">double nc::rotations::Quaternion::j </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>returns the j component</p>
<dl class="section return"><dt>Returns</dt><dd>double </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aa2eee61d3a428a558f28d1bb6cc6a048">&#9670;&nbsp;</a></span>k()</h2>

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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>returns the k component</p>
<dl class="section return"><dt>Returns</dt><dd>double </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a314478702a3da52f2be3f422057d8732">&#9670;&nbsp;</a></span>nlerp() <span class="overload">[1/2]</span></h2>

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          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::nlerp </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat1</em>, </td>
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          <td></td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inPercent</em>&#160;</td>
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<p>linearly interpolates between the two quaternions</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat1</td><td></td></tr>
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inPercent</td><td>[0, 1] </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ab055510c1338490b957de867cecaf790">&#9670;&nbsp;</a></span>nlerp() <span class="overload">[2/2]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
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          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inPercent</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>linearly interpolates between the two quaternions</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inPercent</td><td>(0, 1) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#adcf57fd29d62e19f5c764750262ff7c3">&#9670;&nbsp;</a></span>operator!=()</h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td> const</td>
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<p>equality operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>bool </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a10fd2d44927d59f19e37c45586072d14">&#9670;&nbsp;</a></span>operator*() <span class="overload">[1/4]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>inVec</em></td><td>)</td>
          <td> const</td>
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<p>multiplication operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inVec</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#adad6ca92266f6090930addc585900805">&#9670;&nbsp;</a></span>operator*() <span class="overload">[2/4]</span></h2>

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          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::operator* </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td> const</td>
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<p>multiplication operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a97a81255a6bb91049b1ad7e7b83e2f7f">&#9670;&nbsp;</a></span>operator*() <span class="overload">[3/4]</span></h2>

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          <td class="memname"><a class="el" href="classnc_1_1_vec3.html">Vec3</a> nc::rotations::Quaternion::operator* </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;&#160;</td>
          <td class="paramname"><em>inVec3</em></td><td>)</td>
          <td> const</td>
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<p>multiplication operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inVec3</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_vec3.html" title="Holds a 3D vector.">Vec3</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ad63920fa01f5bd4949c0fbb3ff7c7137">&#9670;&nbsp;</a></span>operator*() <span class="overload">[4/4]</span></h2>

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          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inScalar</em></td><td>)</td>
          <td> const</td>
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<p>multiplication operator, only useful for multiplying by negative 1, all others will be renormalized back out</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inScalar</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aaaa8a1bd7130e7ce6a819284584a84c5">&#9670;&nbsp;</a></span>operator*=() <span class="overload">[1/2]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
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<p>multiplication assignment operator</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a17636913a3a1e810a81a558dc986fd54">&#9670;&nbsp;</a></span>operator*=() <span class="overload">[2/2]</span></h2>

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          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inScalar</em></td><td>)</td>
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<p>multiplication operator, only useful for multiplying by negative 1, all others will be renormalized back out</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inScalar</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a53c84fdd06a1f980c7c74a185d568156">&#9670;&nbsp;</a></span>operator+()</h2>

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          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::operator+ </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
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<p>addition operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#af2b75597d538e55cfdd1215c35c9c6fe">&#9670;&nbsp;</a></span>operator+=()</h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
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<p>addition assignment operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<a id="a43fe6603ffbaaadf9348910e17e99519"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a43fe6603ffbaaadf9348910e17e99519">&#9670;&nbsp;</a></span>operator-() <span class="overload">[1/2]</span></h2>

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          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::operator- </td>
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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>negative operator</p>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ad6eb2370d77e01a944c4b32a48966e76">&#9670;&nbsp;</a></span>operator-() <span class="overload">[2/2]</span></h2>

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          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::operator- </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
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<p>subtraction operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a60f1f33144c887cde1338fd80183638f">&#9670;&nbsp;</a></span>operator-=()</h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
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<p>subtraction assignment operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ab054e067fc333a48582e291f95120866">&#9670;&nbsp;</a></span>operator/()</h2>

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          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::operator/ </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td> const</td>
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<p>division operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a859df40774ccff755560604b930c934d">&#9670;&nbsp;</a></span>operator/=()</h2>

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          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; nc::rotations::Quaternion::operator/= </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
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<p>division assignment operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a82f40acb2292256faffab2b88aa38208">&#9670;&nbsp;</a></span>operator==()</h2>

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          <td class="memname">bool nc::rotations::Quaternion::operator== </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td> const</td>
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<p>equality operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>bool </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a601b444c8c8f820700844d7ab5f743ba">&#9670;&nbsp;</a></span>pitch()</h2>

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          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>The euler pitch angle in radians</p>
<dl class="section return"><dt>Returns</dt><dd>euler pitch angle in radians </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a815d72f9b492ff821077d5d4652b7985">&#9670;&nbsp;</a></span>print()</h2>

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          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>prints the <a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> to the console </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a26f2a9303f0521ee36d92467ab45e3ab">&#9670;&nbsp;</a></span>roll()</h2>

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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>The euler roll angle in radians</p>
<dl class="section return"><dt>Returns</dt><dd>euler roll angle in radians </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a2e19c4d0b48d7f73e0aa273d85435370">&#9670;&nbsp;</a></span>rotate() <span class="overload">[1/2]</span></h2>

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          <td class="memname"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt;double&gt; nc::rotations::Quaternion::rotate </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>inVector</em></td><td>)</td>
          <td> const</td>
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<p>rotate a vector using the quaternion</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inVector</td><td>(cartesian vector with x,y,z components) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> (cartesian vector with x,y,z components) </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a382d4e4c045bce131c5cce634ed077c7">&#9670;&nbsp;</a></span>rotate() <span class="overload">[2/2]</span></h2>

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          <td class="memname"><a class="el" href="classnc_1_1_vec3.html">Vec3</a> nc::rotations::Quaternion::rotate </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;&#160;</td>
          <td class="paramname"><em>inVec3</em></td><td>)</td>
          <td> const</td>
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<p>rotate a vector using the quaternion</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">inVec3</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_vec3.html" title="Holds a 3D vector.">Vec3</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a075b6f1befef247f5d638c91e1a451fd">&#9670;&nbsp;</a></span>s()</h2>

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          <td class="memname">double nc::rotations::Quaternion::s </td>
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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>returns the s component</p>
<dl class="section return"><dt>Returns</dt><dd>double </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a7a39f199e4d1ad773b93c69e66ae0415">&#9670;&nbsp;</a></span>slerp() <span class="overload">[1/2]</span></h2>

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          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::slerp </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat1</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inPercent</em>&#160;</td>
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          <td></td>
          <td>)</td>
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<p>spherical linear interpolates between the two quaternions</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat1</td><td></td></tr>
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inPercent</td><td>(0, 1) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<a id="a687155cd6469c095941b94a738119da9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a687155cd6469c095941b94a738119da9">&#9670;&nbsp;</a></span>slerp() <span class="overload">[2/2]</span></h2>

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          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::slerp </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inPercent</em>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<p>spherical linear interpolates between the two quaternions</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inPercent</td><td>(0, 1) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a0ddeeba7435df3364f262215f24c93c1">&#9670;&nbsp;</a></span>str()</h2>

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          <td class="memname">std::string nc::rotations::Quaternion::str </td>
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<p>returns the quaternion as a string representation</p>
<dl class="section return"><dt>Returns</dt><dd>std::string </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aaa79cb63eab5e2bee5101de41d9074f8">&#9670;&nbsp;</a></span>toDCM()</h2>

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          <td class="memname"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt;double&gt; nc::rotations::Quaternion::toDCM </td>
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<p>returns the direction cosine matrix</p>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a4a11c1c0daf982f9367e4541e5735e71">&#9670;&nbsp;</a></span>toNdArray()</h2>

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          <td class="memname"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt;double&gt; nc::rotations::Quaternion::toNdArray </td>
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<p>returns the quaternion as an <a class="el" href="classnc_1_1_nd_array.html" title="Holds 1D and 2D arrays, the main work horse of the NumCpp library.">NdArray</a></p>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a30fe8031959271e5b0134a0c562713b4">&#9670;&nbsp;</a></span>xRotation()</h2>

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          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::xRotation </td>
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<p>returns a quaternion to rotate about the x-axis by the input angle</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">inAngle</td><td>(radians) </td></tr>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a5b5cef534a39badf5d3079ee642e675c">&#9670;&nbsp;</a></span>yaw()</h2>

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<p>The euler yaw angle in radians</p>
<dl class="section return"><dt>Returns</dt><dd>euler yaw angle in radians </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ab77da90ef63465f79bd79348330ca9a4">&#9670;&nbsp;</a></span>yRotation()</h2>

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          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::yRotation </td>
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<p>returns a quaternion to rotate about the y-axis by the input angle</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">inAngle</td><td>(radians) </td></tr>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aaf688fafc4714f1da399e265c8e49a8d">&#9670;&nbsp;</a></span>zRotation()</h2>

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          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::zRotation </td>
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          <td class="paramtype">double&#160;</td>
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<p>returns a quaternion to rotate about the y-axis by the input angle</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">inAngle</td><td>(radians) </td></tr>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

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<h2 class="groupheader">Friends And Related Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a6d11f3a719f010cdd220642d2bb586e6">&#9670;&nbsp;</a></span>operator&lt;&lt;</h2>

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          <td class="memname">std::ostream&amp; operator&lt;&lt; </td>
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          <td class="paramtype">std::ostream &amp;&#160;</td>
          <td class="paramname"><em>inOStream</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat</em>&#160;</td>
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<p>IO operator for the <a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> class</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">inOStream</td><td></td></tr>
    <tr><td class="paramname">inQuat</td><td></td></tr>
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<dl class="section return"><dt>Returns</dt><dd>std::ostream&amp; </dd></dl>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="_quaternion_8hpp_source.html">Quaternion.hpp</a></li>
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